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<div class="title">digital_elevation_map.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_DIGITAL_ELEVATION_MAP_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_DIGITAL_ELEVATION_MAP_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/stereo/disparity_map_converter.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{ </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html">   75</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html">DigitalElevationMapBuilder</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter</a> &lt;PointDEM&gt;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::baseline_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::translateCoordinates</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::image_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::disparity_map_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::disparity_map_width_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::disparity_map_height_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::disparity_threshold_min_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter&lt;PointDEM&gt;::disparity_threshold_max_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a55a2b19b6ca12ba0098009a7628705ce">   88</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a55a2b19b6ca12ba0098009a7628705ce">DigitalElevationMapBuilder</a> ();</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a0db337c184d2fbfc2a150fc555752e5a">   90</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a0db337c184d2fbfc2a150fc555752e5a">~DigitalElevationMapBuilder</a> ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a5e10d0e569f0c0fba749d1672ec4db5c">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a5e10d0e569f0c0fba749d1672ec4db5c">setResolution</a> (<span class="keywordtype">size_t</span> resolution_column, <span class="keywordtype">size_t</span> resolution_disparity);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#ad12bdc95651ce584a2e41f98059abef7">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#ad12bdc95651ce584a2e41f98059abef7">getColumnResolution</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a23f0a2029ca5e623b0eb04a1f637f7de">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a23f0a2029ca5e623b0eb04a1f637f7de">getDisparityResolution</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a24e92b5470db78fb01628303c20b2bb3">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a24e92b5470db78fb01628303c20b2bb3">setMinPointsInCell</a> (<span class="keywordtype">size_t</span> min_points_in_cell);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#acce73480ad68bf4def31865a748a480f">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#acce73480ad68bf4def31865a748a480f">getMinPointsInCell</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a3729d23fa4faa4213c1a84f81d7ec6d9">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a3729d23fa4faa4213c1a84f81d7ec6d9">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointDEM&gt;</a> &amp;out_cloud);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#ab9733d1891048ba13ecdcfbd68c0a52b">  131</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#ab9733d1891048ba13ecdcfbd68c0a52b">resolution_column_</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a84b5ffd9efceb368235ea05b4195b82a">  133</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a84b5ffd9efceb368235ea05b4195b82a">resolution_disparity_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_digital_elevation_map_builder.html#a7f10262a01c799fb657dc6d6b9eb2db9">  136</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_digital_elevation_map_builder.html#a7f10262a01c799fb657dc6d6b9eb2db9">min_points_in_cell_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  };</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_DIGITAL_ELEVATION_MAP_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html">pcl::DigitalElevationMapBuilder</a></div><div class="ttdoc">Build a Digital Elevation Map in the column-disparity space from a disparity map and a color image of...</div><div class="ttdef"><b>Definition:</b> digital_elevation_map.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a0db337c184d2fbfc2a150fc555752e5a"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a0db337c184d2fbfc2a150fc555752e5a">pcl::DigitalElevationMapBuilder::~DigitalElevationMapBuilder</a></div><div class="ttdeci">virtual ~DigitalElevationMapBuilder()</div><div class="ttdoc">Empty destructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a23f0a2029ca5e623b0eb04a1f637f7de"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a23f0a2029ca5e623b0eb04a1f637f7de">pcl::DigitalElevationMapBuilder::getDisparityResolution</a></div><div class="ttdeci">size_t getDisparityResolution() const</div><div class="ttdoc">Get disparity resolution of the DEM.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a24e92b5470db78fb01628303c20b2bb3"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a24e92b5470db78fb01628303c20b2bb3">pcl::DigitalElevationMapBuilder::setMinPointsInCell</a></div><div class="ttdeci">void setMinPointsInCell(size_t min_points_in_cell)</div><div class="ttdoc">Set minimum amount of points in a DEM's cell.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a3729d23fa4faa4213c1a84f81d7ec6d9"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a3729d23fa4faa4213c1a84f81d7ec6d9">pcl::DigitalElevationMapBuilder::compute</a></div><div class="ttdeci">void compute(pcl::PointCloud&lt; PointDEM &gt; &amp;out_cloud)</div><div class="ttdoc">Compute the Digital Elevation Map.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a55a2b19b6ca12ba0098009a7628705ce"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a55a2b19b6ca12ba0098009a7628705ce">pcl::DigitalElevationMapBuilder::DigitalElevationMapBuilder</a></div><div class="ttdeci">DigitalElevationMapBuilder()</div><div class="ttdoc">DigitalElevationMapBuilder constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a5e10d0e569f0c0fba749d1672ec4db5c"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a5e10d0e569f0c0fba749d1672ec4db5c">pcl::DigitalElevationMapBuilder::setResolution</a></div><div class="ttdeci">void setResolution(size_t resolution_column, size_t resolution_disparity)</div><div class="ttdoc">Set resolution of the DEM.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a7f10262a01c799fb657dc6d6b9eb2db9"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a7f10262a01c799fb657dc6d6b9eb2db9">pcl::DigitalElevationMapBuilder::min_points_in_cell_</a></div><div class="ttdeci">size_t min_points_in_cell_</div><div class="ttdoc">Minimum amount of points in a DEM's cell.</div><div class="ttdef"><b>Definition:</b> digital_elevation_map.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_a84b5ffd9efceb368235ea05b4195b82a"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#a84b5ffd9efceb368235ea05b4195b82a">pcl::DigitalElevationMapBuilder::resolution_disparity_</a></div><div class="ttdeci">size_t resolution_disparity_</div><div class="ttdoc">disparity resolution of the DEM.</div><div class="ttdef"><b>Definition:</b> digital_elevation_map.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_ab9733d1891048ba13ecdcfbd68c0a52b"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#ab9733d1891048ba13ecdcfbd68c0a52b">pcl::DigitalElevationMapBuilder::resolution_column_</a></div><div class="ttdeci">size_t resolution_column_</div><div class="ttdoc">Column resolution of the DEM.</div><div class="ttdef"><b>Definition:</b> digital_elevation_map.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_acce73480ad68bf4def31865a748a480f"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#acce73480ad68bf4def31865a748a480f">pcl::DigitalElevationMapBuilder::getMinPointsInCell</a></div><div class="ttdeci">size_t getMinPointsInCell() const</div><div class="ttdoc">Get minimum amount of points in a DEM's cell.</div></div>
<div class="ttc" id="aclasspcl_1_1_digital_elevation_map_builder_html_ad12bdc95651ce584a2e41f98059abef7"><div class="ttname"><a href="classpcl_1_1_digital_elevation_map_builder.html#ad12bdc95651ce584a2e41f98059abef7">pcl::DigitalElevationMapBuilder::getColumnResolution</a></div><div class="ttdeci">size_t getColumnResolution() const</div><div class="ttdoc">Get column resolution of the DEM.</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a></div><div class="ttdoc">Compute point cloud from the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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